Message

Inter-thread communication support. More...

Collaboration diagram for Message:

Topics
	Aggregation
	Data aggregation.
	Message Interface
	Message type definitions.
	Message Logging
	Inter-thread communication logging support.

Data Structures
struct	msg_chan_data
	Message channel data. More...

Macros
#define	MSG_LIST   MSG_SENSOR_LIST, MSG_TRACTIVE_LIST
	List of all messages.
#define	MSG_AGG_TO_MSG_DEFINE(name, msg, init_val, period, min_separation, watermark, flag, ...)
	Define a data aggregration for aggregating into message msg . May be specified as static to limit the scope of the aggregation.
#define	MSG_CHAN_DEFINE(list)
	Define one message channel for every message in list .
#define	MSG_CHAN_DECLARE(list)
	Declare one message channel for every message in list .
#define	MSG_VCU_LIST   MSG_CTRL_LIST, MSG_STATES_LIST
	List of all VCU messages.

Typedefs
typedef void(*	msg_print_t) (const void *data)
	Print function of a message.
typedef const char *(*	msg_csv_header_t) ()
	Function to get the CSV header of a message.
typedef int(*	msg_csv_write_t) (char *buf, size_t len, const void *data)
	Function to write a message to a CSV format.

Functions
	MSG_CHAN_DECLARE (MSG_LIST)
bool	msg_chan_is_from_msg (const struct zbus_channel *chan)
	Check if the given zbus channel is a message channel.
void	msg_chan_print (const struct zbus_channel *chan, const void *data)
	Print a message based on the channel.
const char *	msg_chan_csv_header (const struct zbus_channel *chan)
	Get the CSV header of a message channel.
int	msg_chan_csv_write (const struct zbus_channel *chan, const void *data, char *buf, size_t len)
	Write a message in CSV format to a buffer based on the channel.
void	msg_agg_publish (const void *data, void *user_data)
	Publishing function for MSG_AGG_DEFINE.
	MSG_CHAN_DECLARE (MSG_VCU_LIST)

Variables
struct agg_typed	msg_sensor_wheel_agg

Detailed Description

Inter-thread communication support.

Macro Definition Documentation

MSG_AGG_TO_MSG_DEFINE

#define MSG_AGG_TO_MSG_DEFINE	(		name,
			msg,
			init_val,
			period,
			min_separation,
			watermark,
			flag,
			... )

#include <nturt/msg/msg.h>

Value:

  AGG_TYPED_DEFINE(name, struct msg, init_val, period, min_separation,        \
                   watermark, flag, msg_agg_publish, (void *)&_MSG_CHAN(msg), \
                   __VA_ARGS__);

Define a data aggregration for aggregating into message msg . May be specified as static to limit the scope of the aggregation.

Parameters

[in]	name	Name of the aggregation.
[in]	msg	Message to aggregate.
[in]	init_val	Initial value of the message, must be a specified by AGG_DATA_INIT.
[in]	period	Period of data publishing.
[in]	min_separation	Minimum separation time between two data publishing.
[in]	watermark	Watermark to wait for late-arriving members.
[in]	flag	Flag of the aggregation. The same ones and rules as flag in AGG_DEFINE.
[in]	...	Members of msg to be monitored, must be specified by AGG_MEMBER.

MSG_CHAN_DECLARE

#define MSG_CHAN_DECLARE

(

list

)

#include <nturt/msg/msg.h>

Value:

  ZBUS_CHAN_DECLARE(FOR_EACH(_MSG_CHAN, (, ), list))

Declare one message channel for every message in list .

Parameters

[in]

list

List of messages to define channels.

MSG_CHAN_DEFINE

#define MSG_CHAN_DEFINE

(

list

)

#include <nturt/msg/msg.h>

Value:

N_FOR_EACH(_MSG_CHAN_DEFINE, (;), list)

Define one message channel for every message in list .

Parameters

[in]

list

List of messages to define channels.

Note

This macro uses logging to print messages, so a log module must be registered or declared before using this macro.

MSG_LIST

#define MSG_LIST   MSG_SENSOR_LIST, MSG_TRACTIVE_LIST

#include <nturt/msg/msg.h>

List of all messages.

MSG_VCU_LIST

#define MSG_VCU_LIST   MSG_CTRL_LIST, MSG_STATES_LIST

#include <vcu/msg/msg.h>

List of all VCU messages.

Typedef Documentation

msg_csv_header_t

typedef const char *(* msg_csv_header_t) ()

#include <nturt/msg/msg.h>

Function to get the CSV header of a message.

Returns

Pointer to the CSV header string.

msg_csv_write_t

typedef int(* msg_csv_write_t) (char *buf, size_t len, const void *data)

#include <nturt/msg/msg.h>

Function to write a message to a CSV format.

Parameters

[in]	buf	Buffer to write the CSV data to.
[in]	len	Length of the buffer.
[in]	data	Pointer to the message data.

Returns

Number of bytes that would be written to the buffer if it were large enough, excluding the null terminator.

msg_print_t

typedef void(* msg_print_t) (const void *data)

#include <nturt/msg/msg.h>

Print function of a message.

Parameters

[in]

data

Pointer to the message data.

Function Documentation

msg_agg_publish()

void msg_agg_publish	(	const void *	data,
		void *	user_data )

#include <nturt/msg/msg.h>

Publishing function for MSG_AGG_DEFINE.

Warning

Internal use only.

msg_chan_csv_header()

const char * msg_chan_csv_header

(

const struct zbus_channel *

chan

)

#include <nturt/msg/msg.h>

Get the CSV header of a message channel.

Parameters

[in]

chan

Message channel.

Returns

Pointer to the CSV header string.

Warning

Only zbus channels defined with MSG_CHAN_DEFINE can be used with this function.

msg_chan_csv_write()

int msg_chan_csv_write	(	const struct zbus_channel *	chan,
		const void *	data,
		char *	buf,
		size_t	len )

#include <nturt/msg/msg.h>

Write a message in CSV format to a buffer based on the channel.

Parameters

[in]	chan	Message channel.
[in]	data	Pointer to the message data.
[in]	buf	Buffer to write the CSV data to.
[in]	len	Length of the buffer.

Returns

Number of bytes that would be written to the buffer if it were large enough, excluding the null terminator.

Warning

Only zbus channels defined with MSG_CHAN_DEFINE can be used with this function.

MSG_CHAN_DECLARE() [1/2]

MSG_CHAN_DECLARE

(

MSG_LIST

)

#include <nturt/msg/msg.h>

MSG_CHAN_DECLARE() [2/2]

MSG_CHAN_DECLARE

(

MSG_VCU_LIST

)

#include <vcu/msg/msg.h>

msg_chan_is_from_msg()

bool msg_chan_is_from_msg

(

const struct zbus_channel *

chan

)

#include <nturt/msg/msg.h>

Check if the given zbus channel is a message channel.

Parameters

chan	Zbus channel to check.

Returns

True if the channel is a message channel, false otherwise.

msg_chan_print()

void msg_chan_print	(	const struct zbus_channel *	chan,
		const void *	data )

#include <nturt/msg/msg.h>

Print a message based on the channel.

Parameters

[in]	chan	Message channel.
[in]	data	Pointer to the message data.

Warning

Only zbus channels defined with MSG_CHAN_DEFINE can be used with this function.

Variable Documentation

msg_sensor_wheel_agg

struct agg_typed msg_sensor_wheel_agg

extern

#include <vcu/msg/msg.h>